Fix: Enable MPPI open-loop control on Jazzy - #867
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Fix: Enable MPPI open-loop control on Jazzy#867picknik-johnny-5-bot[bot] wants to merge 2 commits into
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Nav2's pluginlib lookup names are mutually exclusive between Humble (pkg/Class) and Jazzy (pkg::Class), and Jazzy's bt_navigator loads its default BT plugin libraries implicitly. Ship a Jazzy parameter file alongside the Humble one and pick between them at launch, so hangar_sim navigation starts on both distros the 9.4 line publishes. Closes #21729 Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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[written by AI]
Motivation
The Jazzy MPPI controller uses lagging odometry to seed each optimization cycle, limiting commanded base speed in
hangar_sim. Upstream navigation2#6336 adds an opt-inopen_loopmode that seeds from the previous command.Refs PickNikRobotics/moveit_pro#21730.
Brief description
FollowPath.open_loopin the Jazzy-only Nav2 parameter file introduced by parent PR Fix: Select hangar_sim nav2 params by ROS distro so Jazzy navigation starts #863.This is a stacked draft based on #863.
Blocking dependencies
Do not mark ready or merge until:
FollowPath.open_loop=Trueand confirms the commanded-speed regression is fixed.How it was tested
python -m pytest -q src/hangar_sim/test/nav2_params_distro_parity_test.py— 5 passed.pre-commit run --files src/hangar_sim/params/nav2_params_jazzy.yaml src/hangar_sim/test/nav2_params_distro_parity_test.py— all applicable hooks passed.git diff --check origin/pr-863-current...HEAD— passed.A code-reviewer, test-runner, and platform-architecture review passed with no required changes. Runtime testing remains blocked on publication of the upstream Jazzy package.
Release notes